TMCL™ Firmware Manual - Trinamic

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PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 50 Number Global parameter Description 20…55 general #20..#55 purpose variables for use in TMCL applications Example: Store the user variable 5 in EEPROM. STGP 5, 2 Binary: Byte Index 0 1 2 3 4 5 6 7 8 Function Target- Instruction Type Motor/ Operand Operand Operand Operand Checksum address Number Bank Byte3 Byte2 Byte1 Byte0 Value (hex) $01 $0b $05 $02 $00 $00 $00 $00 $13 Note: The STAP command will not have any effect when the configuration EEPROM is locked (refer to 8.1). In direct mode, the error code 5 (configuration EEPROM locked, see also section 6.2.1) will be returned in this case. Please refer to chapter 8 for more information about bank 0 to 2. Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
PD-109-57 V2 TMCL Firmware Manual (V1.00/2010-FEB-18) 51 6.7.12 RSGP (restore global parameter) With this command the contents of a TMCL user variable can be restored from the EEPROM. For all configuration-related axis parameters, non-volatile memory locations are provided. By default, most parameters are automatically restored after power up (see global parameter list in chapter 8). A single parameter that has been changed before can be reset by this instruction. Internal function: The specified parameter is copied from the configuration EEPROM memory to its RAM location. Relate commands: SAP, STAP, GAP, and AAP Mnemonic: RSAP , Binary representation: INSTRUCTION NO. TYPE MOT/BANK VALUE 8 (don't care) Reply structure in direct mode: STATUS VALUE 100 – OK (don't care) Global parameters of bank 0, which can be used for STGP: The global parameter bank 0 is not required for the STGP command, because these parameters are automatically stored with the SGP command in EEPROM. Global parameters of bank 1, which can be used for STGP: The global parameter bank 1 is normally not available, but can be used in customer specific extensions of the firmware. Global parameters of bank 2, which can be used for RSGP: Bank 2 contains general purpose 32 bit variables for the use in TMCL applications. They are located in RAM and can be stored to EEPROM. After booting, their values are automatically restored to the RAM. Number Global parameter Description 0 general purpose variable #0 for use in TMCL applications 1 general purpose variable #1 for use in TMCL applications 2 general purpose variable #2 for use in TMCL applications 3 general purpose variable #3 for use in TMCL applications 4 general purpose variable #4 for use in TMCL applications 5 general purpose variable #5 for use in TMCL applications 6 general purpose variable #6 for use in TMCL applications 7 general purpose variable #7 for use in TMCL applications 8 general purpose variable #8 for use in TMCL applications 9 general purpose variable #9 for use in TMCL applications 10 general purpose variable #10 for use in TMCL applications 11 general purpose variable #11 for use in TMCL applications 12 general purpose variable #12 for use in TMCL applications 13 general purpose variable #13 for use in TMCL applications 14 general purpose variable #14 for use in TMCL applications 15 general purpose variable #15 for use in TMCL applications 16 general purpose variable #16 for use in TMCL applications 17 general purpose variable #17 for use in TMCL applications Copyright © 2010, TRINAMIC Motion Control GmbH & Co. KG
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TMCL™ Firmware Manual - Trinamic

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